基于干扰观测器的变刚度驱动器复合跟踪控制  

Composite tracking control of variable stiffness actuators based ondisturbance observer

作　　者：孙剑韬 刘雅伦 陈启航 江明隆 郭朝 SUN Jiantao;Liu Yalun;CHEN Qihang;Jiang Minglong;GUO Chao(School of Smart Manufacturing,Jianghan University,Wuhan 430056,China;School of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,China)

机构地区：[1]江汉大学智能制造学院,湖北武汉430056 [2]武汉大学动力与机械学院,湖北武汉430072

出　　处：《武汉大学学报（工学版）》2024年第2期241-253,共13页Engineering Journal of Wuhan University

基　　金：湖北省自然科学基金青年基金(编号:2021CFB208)。

摘　　要：变刚度驱动器(variable stiffness actuator,VSA)是发展新一代柔性机器人的核心技术之一,由于其模型存在参数不确定性和外部干扰等原因,针对其控制器的设计仍面临着挑战。为解决该问题,提出了一种基于非线性干扰观测器(nonlinear disturbance observer,NDOB)的复合控制方法,用于实现模型扰动下的VSA刚度与位置控制。与现有针对VSA的非线性控制方法相比,基于干扰观测器的复合跟踪控制方法的最显著优势在于引入了一种新的建模方法用于分析VSA在模型参数不确定、外部干扰和弹性形变等复杂摄动时的动力学;提出一种基于反馈线性化和NDOB的复合控制方法以提高驱动器跟踪精度、增加驱动器针对不确定因素时的鲁棒性。仿真和物理样机试验均验证了所提控制方法的有效性。As one of the key technologies for the development of a new generation of compliant robots,the design of variable stiffness actuator(VSA)controllers is still facing challenges due to parametric uncertainty and external disturbance in its models.To solve the problem,a composite control method based on nonlinear disturbance observer(NDOB)is proposed to control the stiffness and position of VSA under model disturbance.Compared with the existing nonlinear control methods for VSA,the most significant advantages of the composite tracking control method based on NDOB lie in two aspects:a new modeling method is introduced for analyzing the dynamics of VSA in complex perturbations such as model parameter uncertainty,external disturbance and elastic deformation;a composite control method based on feedback linearization and NDOB is proposed to improve the actuator tracking accuracy and increase the robustness of the actuator against uncertainties.Both simulation and physical prototype tests verify the effectiveness of the proposed control method.

关 键 词：变刚度驱动器 非线性干扰观测器 柔性驱动器 反馈线性化 复合控制 模型摄动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]